I’ve done a small Car with Legos and before let my daughter play with it, I just wanted to share the monster!
The motor shield is the L293D adapted to the Wemos size. I can share the details if needed.

You can find the code below, it has been prepared to be updated via OTA, based on the one I posted time ago for an Arduino Nano and the ESP-01 as shield (you can find the topic HERE), and improved using pieces of code obtained from @Costas (thanks for your support ).

Bluetooth Controlled Robot With Spy Wireless Camera: In this instructables i will show you how to make wireless robot controlled with Bluetooth module.the best feature of this robot is wireless camera working over wiffi.in above picture you can see...

For sure, you can use the L293D to drive stepper motors, but if that’s your idea, consider using the A4988 driver, it’s really easy to use with the AccelStepper library and works fine with the WeMos mini D1

Hi @AnTran,
Are you talking about the Adafruit Motor Shield for Arduino V 1.2 or something like this?
You can’t use this shield. This motor shield is controlled via the 74HC595 serial-to-parallel latch.
The pins for Dir_Ser and Dir_Lach are the same (D6) at the Wemos D1.